Dh-Robotics RGI-100 How to use

RGI-100 Gripper
Short Manual
Content
Revisions...........................................................................................................................................1
1 Specifications.................................................................................................................................2
1.1 Indicator ..............................................................................................................................2
1.2 Pinout Description...............................................................................................................3
2 Modbus-RTU Control ....................................................................................................................4
2.1 Wiring .................................................................................................................................4
2.1.1 Debugging software instructions..............................................................................5
2.2 Default Communication Parameters ...................................................................................8
2.3 Modbus-RTU Description...................................................................................................9
2.3.1 RTU Framing ...........................................................................................................9
2.3.2 Supported Modbus Function Code...........................................................................9
2.3.3 Register Mapping...................................................................................................10
2.3.4 Register Description...............................................................................................11
2.3.4.1 Initialization ................................................................................................11
2.3.4.2 Force............................................................................................................12
2.3.4.3 Position........................................................................................................13
2.3.4.4 Speed...........................................................................................................13
2.3.4.5 Rotation angle .............................................................................................14
2.3.4.6 Rotation speed.............................................................................................15
2.3.4.7 Rotation force..............................................................................................15
2.3.4.8 Initialization State .......................................................................................16
2.3.4.9 Gripper State ...............................................................................................16
2.3.4.10 Current Position ........................................................................................17
2.3.4.11 Rotating angle feedback ............................................................................17
2.3.4.12 Rotating initialization state feedback. .......................................................17
2.3.4.13 Rotating state feedback. ............................................................................18
2.3.4.14 Save Parameter..........................................................................................18
2.3.4.15 Initialization Direction ..............................................................................19
2.3.4.16 Slave Address............................................................................................19
2.3.4.17 Baud Rate..................................................................................................20
2.3.4.18 Stop Bits....................................................................................................20
2.3.4.19 Parity .........................................................................................................21
2.3.4.20 Test I/O Parameters ...................................................................................21
2.3.4.21 I/O Mode Switch .......................................................................................22
2.3.4.22 I/O Parameter Configuration.....................................................................23
3 I/O Control ...................................................................................................................................24

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3.1 Wiring ...............................................................................................................................25
3.2 I/O Setting.........................................................................................................................25
3.2.1 Configure IO ..........................................................................................................25
3.2.2 Open IO..................................................................................................................26
3.2.3 Save Settings ..........................................................................................................27
3.2.4. Restart ...................................................................................................................27

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Revisions
Date
Version
Revised content
20200426
V1.0
First edition, write wiring instructions and
command instructions
20200904
V2.0
Change some instructions , Update the
description of IO mode
20201010
V2.1
The structure of gripper is modified and the
structure is lengthened. Modify the picture
20210401
V2.2
-

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1 Specifications
RGI-100 is an electric rotary gripper, The number represents the Maximum stroke. The gripper is
equipped with a pair of parallel fingertips, which runs symmetrically during the movement. The
main structure of the gripper is a cuboid structure with three installation positions, which can meet
the different installation conditions of the equipment. It is equipped with an 8-core communication
interface. It has the following characteristics:
Controllable force/position/speed/angle: The gripper can program and adjust the grip position,
grip force ,grip speed and angle.
Multiple communication modes: The gripper supports Modbus RTU protocol and IO mode
control. Other communication protocols such as USB and ETHERNET can be transferred through
protocol converter.
Gripping detection: The combination of force control and position control is adopted in the
gripping process.
Gripping feedback: The state of the gripper can be read by programming, and can also be judged
according to the indicator of the gripper.
Fingertips can be customized: Fingertips can be replaced according to situation, which is
suitable for precision machining, parts assembly, and other fields.
1.1 Indicator
The gripper can feed back the state of the gripper in real time. In addition to the command reading,
it can also be judged on the color of the indicator:
Color description of indicator
·Uninitialize state: Red light blinks, other lights are off.
·Initialized State: the blue light is always on, indicating that it is in the operable state.
·Received command state: the red light blink once quickly (because the blue light is
always on at this time, the gripper indicator light will looks like a purple light).
·Object Caught state: green light is always on, other lights are off.
·Object dropped state: green light blinking.

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1.2 Pinout Description
The line sequence definition on the gripper body is shown in Figure 1.1(a) and 1.1(b) .
Figure 1.1 (a) The blue line marked diagram
Figure 1.1 (b) The yellow line marked diagram
ote: Please distinguish the wire sequence according to the wire mark. If the wire mark is lost,
dropped, or forgotten, please contact our staff to cooperate in determining the wire
sequence. If you do not contact our staff, the clamping jaws will be damaged due to the
wrong wiring sequence, and you will be responsible for the consequences.

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2 Modbus-RTU Control
2.1 Wiring
Use the provided RS-485 to USB converter (see the schematic in Figure 2.1 below) to plug into a
PC or other Controllers.
Figure 2.1 RS485 Connection
Software can be downloaded on the official website. Software and driver are integrated in the
process of software installation, and both are installed together. It is recommended to check the
create shortcut during installation.
Wiring instructions
·① : when the device (computer) has RS485 interface, the communication can be directly
connected to RS485_A and RS485_B communication lines without transferring to 485
module through USB
·② : in this way, other serial port debugging software (such as MODBUS poll) can be
used for debugging

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Figure 2.2 (a) installation interface 1
Figure 2.2 (b) driver installation interface
2.1.1 Debugging software instructions
Before use, it is necessary to connect the corresponding wiring according to the instructions.
Open the software, the software will automatically identify the serial port, baud rate, ID number and
other information of the gripper for automatic connection. As shown in the figure below:

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Figure 2.3 main control interface
The specific interface description is as follows:
The gripper body uses Modbus RTU for communication, and can read and write data into the
register. The data can be read and written at the view register. The data includes control, feedback,
user parameters and I/O parameters as shown in the following figure:
Interface description
·① Initialization and demonstration mode: the gripper needs to be initialized before
operation to calibrate the zero point. The demonstration mode is a cyclic program.
·② Control interface: it can control the position, force and speed of the gripper.
·③ Clamping status: real time display of clamping status of clamping claw.
·④ Position current real time graph: real time display position and current. The
current represents the current of the internal motor, not the current actually consumed by
the gripper. The current real-time graph can reflect the stability of clamping force.
·⑤ Parameter setting: the configuration parameters of Modbus RTU, such as baud rate
and check bit, can be configured; IO mode is to configure the parameters related to IO
mode;

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Figure 2.4 View
If there are multiple 485 devices, sometimes the baud rate and ID number of the gripper need to be
modified, the parameters can be modified in Modbus RTU parameters
Figure 2.5 Modbus RTU parameters
You can set and configure the gripper I / O parameters in [I / O parameters]. After modifying the
parameters, please click Save button to save. The following figure shows the operation of opening
IO mode:

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Figure 2.6 Modbus RTU parameters
The steps of switching IO are as follows:
2.2 Default Communication Parameters
Slave Address ：1
Baud Rate ：115200
Data Bits ：8 bits
Stop Bits ：1 stop bit
Parity ：None
Steps to switch IO mode
·① Open IO mode: open IO mode first.
·② Configure four groups of IO parameters: set the four groups of parameters of
gripper, including position, force and speed.
·③ Save: click the Save button to write the parameters to the internal register of flash,
and restart to control.
·④ Restart: after the restart, the switch to IO mode is successful. You can control the
gripper according to the input signal, and the running status will be fed back through
output.